12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

initialize PreintegrationParams default constructor and make serialization test more explicit

release/4.3a0
Varun Agrawal 2020-03-22 20:04:04 -04:00
parent c2d7df3f14
commit 9bef6bfded
2 changed files with 10 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/navigation/PreintegrationParams.h
View File

@ -29,6 +29,13 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration
Vector3 n_gravity; ///< Gravity vector in nav frame
/// Default constructor for serialization only
PreintegrationParams()
: accelerometerCovariance(I_3x3),
integrationCovariance(I_3x3),
use2ndOrderCoriolis(false),
n_gravity(0, 0, -1) {}
/// The Params constructor insists on getting the navigation frame gravity vector
/// For convenience, two commonly used conventions are provided by named constructors below
PreintegrationParams(const Vector3& n_gravity)
@ -60,8 +67,6 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
bool getUse2ndOrderCoriolis() const { return use2ndOrderCoriolis; }
protected:
/// Default constructor for serialization only: uninitialized!
PreintegrationParams() {}
/** Serialization function */
friend class boost::serialization::access;

6
gtsam/navigation/tests/testImuFactorSerialization.cpp
View File

@ -64,9 +64,9 @@ TEST(ImuFactor, serialization) {
ImuFactor factor(1, 2, 3, 4, 5, pim);
EXPECT(equalsObj(factor));
EXPECT(equalsXML(factor));
EXPECT(equalsBinary(factor));
EXPECT(equalsObj<ImuFactor>(factor));
EXPECT(equalsXML<ImuFactor>(factor));
EXPECT(equalsBinary<ImuFactor>(factor));
}
/* ************************************************************************* */